ResearchBenchmarksParking Path Planning on Parking Scenario fFollow0Failure RateHA*-0.001-0.000500.0005Oct 21, 2023Evaluation ResultsMethodMethodLinksFailure RateMean Computation Time (ms)Min Computation Time (ms)Max Computation Time (ms)Mean Node NumbersMin Node NumbersMax Node NumbersMean Path Length (m)Min Path Length (m)Max Path Length (m)Mean Direction ChangesMin Direction ChangesMax Direction ChangesHA*2023.100534462,239169131,16921.815.731.5111MHHA*2023.100387443,642117131,2872115.727111HJBA*2023.10018722429212552215.930.2414